class sensor_range_finder(object):
	"""This sensor represents multiple range finders oriented at fixed positions w.r.t. the agent.  Each returns the maximum distance before intersecting with a wall."""
	def __init__(self,agent_num,world_model,range_finder_orientations,max_range=1e10000):
		self.agent_num=agent_num
		self.range_finder_orientations=range_finder_orientations
		self.max_range=max_range
		self.world_model=world_model
	def sense(self):
		return map(lambda x: min(self.world_model.min_collision_dist_rel(self.agent_num,x),self.max_range),self.range_finder_orientations)
